Zhu Yimin, Yang Jianan, Zhang Lixian, Wu Tong, Li Hongyi, Ma Yuting, Basin Michael V
IEEE Trans Cybern. 2024 Sep;54(9):5441-5450. doi: 10.1109/TCYB.2024.3372248. Epub 2024 Aug 26.
This article is concerned with the switched control of hybrid terrestrial and aerial quadrotors (HyTAQs) via stochastic hybrid fuzzy system methodology, in which the terrestrial and aerial mode switching is subject to a Markov process with lower-bounded sojourn time. For the first time, the bimodal nonlinear attitude dynamics of HyTAQs is analyzed and modeled based on the Takagi-Sugeno (T-S) fuzzy model, and switched fuzzy controllers are developed to stabilize the hybrid fuzzy system. The characteristic of state dimension switching caused by ground contact is modeled via the singular system presentation with mode-dependent singularity matrices, based on which numerically testable criteria of stability and stabilization in the stochastic sense are derived. Compared with the previous control approaches based on Markov jump systems, the proposed one is able to describe the deterministic dwelling duration in practice and integrate multiple subsystems with algebraic equations of different dimensions, while achieving lower conservatism. Illustrative examples are provided to demonstrate the effectiveness and potential of the designed variable-dimension fuzzy controllers.
本文关注基于随机混合模糊系统方法对地面与空中混合四旋翼飞行器（HyTAQs）的切换控制，其中地面与空中模式切换服从具有下有界逗留时间的马尔可夫过程。首次基于高木 - 关野（T - S）模糊模型对HyTAQs的双模态非线性姿态动力学进行分析和建模，并开发切换模糊控制器以稳定混合模糊系统。通过具有模式依赖奇异矩阵的奇异系统表示对由地面接触引起的状态维数切换特性进行建模，在此基础上推导了随机意义下稳定性和镇定的数值可检验准则。与先前基于马尔可夫跳跃系统的控制方法相比，所提方法能够在实际中描述确定性驻留持续时间，并将多个子系统与不同维数的代数方程集成，同时具有更低的保守性。给出了示例以证明所设计的变维模糊控制器的有效性和潜力。
